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Note 10 - Stockholders' Equity and Stock-based Compensation (Tables)
3 Months Ended
Mar. 31, 2021
Notes Tables  
Share-based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity [Table Text Block]
      

Restricted Stock

  

Stock Appreciation

 
  

Stock Options

  

and Units Awards

  

Rights

 

Outstanding at January 1, 2020

  533,320   732,707   754,582 

Increase in shares authorized

     23,533    

Granted

         

Stock options and SARs exercised/restricted stock and unit awards vested

     (24,365)  (5,000)

Cancelled/forfeited

  (51,534)  (41,944)  (86,991)

Outstanding at March 31, 2021

  481,786   689,931   662,591 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

Risk-free interest rates

  0.7%

Expected lives (in years)

  5.31 

Expected dividend yield

  %

Expected volatility

  94.7%